Search Results (500)

Roadside tree segmentation and parameter extraction play an essential role in completing the virtual simulation of road scenes. Point cloud data of roadside trees collected by LiDAR provide important data support for achieving assisted autonomous driving. Due to the interference from trees and other ground objects in street scenes caused by mobile laser scanning, there may be a small number of missing points in the roadside tree point cloud, which makes it familiar for under-segmentation and over-segmentation phenomena to occur in the roadside tree segmentation process. In addition, existing methods have difficulties in meeting measurement requirements for segmentation accuracy in the individual tree segmentation process. In response to the above issues, this paper proposes a roadside tree segmentation algorithm, which first completes the scene pre-segmentation through unsupervised clustering. Then, the over-segmentation and under-segmentation situations that occur during the segmentation process are processed and optimized through projection topology checking and tree adaptive voxel bound analysis. Finally, the overall high-precision segmentation of roadside trees is completed, and relevant parameters such as tree height, diameter at breast height, and crown area are extracted. At the same time, the proposed method was tested using roadside tree scenes. The experimental results show that our methods can effectively recognize all trees in the scene, with an average individual tree segmentation accuracy of 99.07%, and parameter extraction accuracy greater than 90%. Full article

The deployment of Advanced Air Mobility requires the continued development of technologies to ensure operational safety. One of the key aspects to consider here is the availability of robust solutions to avoid tactical conflicts between drones and other flying elements, such as other drones or birds. Bird detection is a relatively underexplored area, but due to the large number of birds, their shared airspace with drones, and the fact that they are non-cooperative elements within an air traffic management system, it is of interest to study how their detection can be improved and how collisions with them can be avoided. This work demonstrates how a LiDAR sensor mounted on a drone can detect birds of various sizes. A LiDAR simulator, previously developed by the Aerolab research group, is employed in this study. Six different collision trajectories and three different bird sizes (pigeon, falcon, and seagull) are tested. The results show that the LiDAR can detect any of these birds at about 30 m; bird detection improves when the bird gets closer and has a larger size. The detection accuracy is higher than 1 m in most of the cases under study. The errors grow with increasing drone-bird relative speed. Full article

Urban forests, as vital components of green infrastructure, provide essential ecosystem services (ESs) that support urban sustainability. However, rapid urban expansion and increased density threaten these forests, creating significant imbalances between the supply and demand for these services. Understanding the characteristics of ecosystem services and reasonably dividing ecological management zones are crucial for promoting sustainable urban development. This study introduces an innovative ecological management zoning framework based on the matching degree and synergies relationships of ESs. Focusing on Fuzhou’s fourth ring road area in China, data from 1038 urban forest sample plots were collected using mobile LIDAR. By integrating the i-Tree Eco model and Kriging interpolation, we assessed the spatial distribution of four key ESs—carbon sequestration, avoided runoff, air purification, and heat mitigation—and analyzed their supply–demand relationships and synergies. Based on these ecological characteristics, we employed unsupervised machine learning classification to identify eight distinct ecological management zones, each accompanied by targeted recommendations. Key findings include the following: (1) ecosystem services of urban forests in Fuzhou exhibit pronounced spatial heterogeneity, with clearly identifiable high-value and low-value areas of significant statistical relevance; (2) heat mitigation, avoided runoff, and air purification services all exhibit synergistic effects, while carbon sequestration shows trade-offs with the other three services in high-value areas, necessitating targeted optimization; (3) eight ecological management zones were identified, each with unique ecological characteristics. This study offers precise spatial insights into Fuzhou’s urban forests, providing a foundation for sustainable ecological management strategies. Full article

Handheld LiDAR scanners, which typically consist of a LiDAR sensor, Inertial Measurement Unit, and processor, enable data capture while moving, offering flexibility for various applications, including indoor and outdoor 3D mapping in fields such as architecture and civil engineering. Unlike fixed LiDAR systems, handheld devices allow data collection from different angles, but this mobility introduces challenges in data quality, particularly when initial calibration between sensors is not precise. Accurate LiDAR-IMU calibration, essential for mapping accuracy in Simultaneous Localization and Mapping applications, involves precise alignment of the sensors’ extrinsic parameters. This research presents a robust initial pose calibration method for LiDAR-IMU systems in handheld devices, specifically designed for indoor environments. The research contributions are twofold. Firstly, we present a robust plane detection method for LiDAR data. This plane detection method removes the noise caused by mobility of scanning device and provides accurate planes for precise LiDAR initial pose estimation. Secondly, we present a robust planes-aided LiDAR calibration method that estimates the initial pose. By employing this LiDAR calibration method, an efficient LiDAR-IMU calibration is achieved for accurate mapping. Experimental results demonstrate that the proposed method achieves lower calibration errors and improved computational efficiency compared to existing methods. Full article

For deformed wheel-based staircase-climbing robots, the accuracy of staircase step geometry perception and scene mapping are critical factors in determining whether the robot can successfully ascend the stairs and continue its task. Currently, while there are LiDAR-based algorithms that focus either on step geometry detection or scene mapping, few comprehensive algorithms exist that address both step geometry perception and scene mapping for staircases. Moreover, significant errors in step geometry estimation and low mapping accuracy can hinder the ability of deformed wheel-based mobile robots to climb stairs, negatively impacting the efficiency and success rate of task execution. To solve the above problems, we propose an effective LiDAR-Inertial-based point cloud detection method for staircases. Firstly, we preprocess the staircase point cloud, mainly using the Statistical Outlier Removal algorithm to effectively remove the outliers in the staircase scene and combine the vertical angular resolution and spatial geometric relationship of LiDAR to realize the ground segmentation in the staircase scene. Then, we perform post-processing based on the point cloud map obtained from LiDAR SLAM, extract the staircase point cloud and project and fit the staircase point cloud by Ceres optimizer, and solve the dimensional information such as depth and height of the staircase by combining with the mean filtering method. Finally, we fully validate the effectiveness of the method proposed in this paper by conducting multiple sets of SLAM and size detection experiments in real different staircase scenarios. Full article

This study evaluates the performance of the ZEB Horizon RT portable mobile laser scanner (MLS) in simulating silvicultural thinning operations across three different Tuscan forests dominated by Douglas-fir (Pseudotsuga menziesii (Mirb.) Franco), Italian cypress (Cupressus sempervirens L.), and Stone pine (Pinus pinea L.). The aim is to compare the efficiency and accuracy of the MLS with traditional dendrometric methods. The study established three marteloscopes, each covering a 50 m × 50 m plot area (0.25 ha). Traditional dendrometric methods involved a team georeferencing trees using a total station and measuring the diameter at breast height (DBH) and selected tree heights (H) to calculate the growing stock volume (GSV). The MLS survey was carried out by a two-person team, who processed the point cloud data with LiDAR 360 software to automatically identify the tree positions, DBH, and H. The methods were compared based on the time, cost, and simulated felling volume. The MLS method was more time-efficient, saving nearly one and a half hours per marteloscope, equivalent to EUR 170. This advantage was most significant in denser stands, especially the Italian cypress forest. Both methods were comparable in terms of accuracy for Douglas-fir and Stone pine stands, with no significant differences in felling number or volume, although greater differences were noted for the Italian cypress forest. Full article

Autonomous navigation in dynamic environments presents a significant challenge for mobile robotic systems. This paper proposes a novel approach utilizing Convolutional Neural Networks (CNNs) for multi-object detection in 3D space and 2D segmentation using bird’s eye view (BEV) maps derived from 3D Light Detection and Ranging (LiDAR) data. Our method aims to enable mobile robots to localize movable objects and their occupancy, which is crucial for safe and efficient navigation. To address the scarcity of labeled real-world datasets, a synthetic dataset based on a simulation environment is generated to train and evaluate our model. Additionally, we employ a subset of the NVIDIA r2b dataset for evaluation in the real world. Furthermore, we integrate our CNN-based detection and segmentation model into a Robot Operating System 2 (ROS2) framework, facilitating communication between mobile robots and a centralized node for data aggregation and map creation. Our experimental results demonstrate promising performance, showcasing the potential applicability of our approach in future assembly systems. While further validation with real-world data is warranted, our work contributes to advancing perception systems by proposing a solution for multi-source, multi-object tracking and mapping. Full article

To address the issue of significant point cloud ghosting in the construction of high-precision point cloud maps by low-speed intelligent mobile vehicles due to the presence of numerous dynamic obstacles in the environment, which affects the accuracy of map construction, this paper proposes a LiDAR-based Simultaneous Localization and Mapping (SLAM) algorithm tailored for dynamic scenes. The algorithm employs a tightly coupled SLAM framework integrating LiDAR and inertial measurement unit (IMU). In the process of dynamic obstacle removal, the point cloud data is first gridded. To more comprehensively represent the point cloud information, the point cloud within the perception area is linearly discretized by height to obtain the distribution of the point cloud at different height layers, which is then encoded to construct a linear discretized height descriptor for dynamic region extraction. To preserve more static feature points without altering the original point cloud, the Random Sample Consensus (RANSAC) ground fitting algorithm is employed to fit and segment the ground point cloud within the dynamic regions, followed by the removal of dynamic obstacles. Finally, accurate point cloud poses are obtained through static feature matching. The proposed algorithm has been validated using open-source datasets and self-collected campus datasets. The results demonstrate that the algorithm improves dynamic point cloud removal accuracy by 12.3% compared to the ERASOR algorithm and enhances overall mapping and localization accuracy by 8.3% compared to the LIO-SAM algorithm, thereby providing a reliable environmental description for intelligent mobile vehicles. Full article

High-definition (HD) maps for autonomous driving rely on data from mobile mapping systems (MMS), but the high cost of MMS sensors has led researchers to explore cheaper alternatives like low-cost LiDAR sensors. While cost effective, these sensors produce sparser point clouds, leading to poor feature representation and degraded performance in deep learning techniques, such as convolutional neural networks (CNN), for tasks like road marking extraction and classification, which are essential for HD map generation. Examining common image segmentation workflows and the structure of U-Net, a CNN, reveals a source of performance loss in the succession of resizing operations, which further diminishes the already poorly represented features. Addressing this, we propose improving U-Net’s ability to extract and classify road markings from sparse-point-cloud-derived images by introducing a learnable resizer (LR) at the input stage and learnable resizer blocks (LRBs) throughout the network, thereby mitigating feature and localization degradation from resizing operations in the deep learning framework. Additionally, we incorporate Laplacian filters (LFs) to better manage activations along feature boundaries. Our analysis demonstrates significant improvements, with F1-scores increasing from below 20% to above 75%, showing the effectiveness of our approach in improving road marking extraction and classification from sparse-point-cloud-derived imagery. Full article

This study aims to present the benefits of unmanned aircraft systems (UAS) in atmospheric aerosol research, specifically to obtain information on the vertical variability of aerosol single-scattering properties in the lower troposphere. The results discussed in this paper were obtained during the Polish Radar and Lidar Mobile Observation System (POLIMOS) field campaign in 2018 at a wetland and rural site located in the Rzecin (Poland). UAS was equipped with miniaturised devices (low-cost aerosol optical counter, aethalometer AE-51, RS41 radiosonde) to measure aerosol properties (scattering and absorption coefficient) and air thermodynamic parameters. Typical UAS vertical profiles were conducted up to approximately 1000 m agl. During nighttime, UAS measurements show a very shallow inversion surface layer up to about 100–200 m agl, with significant enhancement of aerosol scattering and absorption coefficient. In this case, the Pearson correlation coefficient between aerosol single-scattering properties measured by ground-based equipment and UAS devices significantly decreases with altitude. In such conditions, aerosol properties at 200 m agl are independent of the ground-based observation. On the contrary, the ground observations are better correlated with UAS measurements at higher altitudes during daytime and under well-mixed conditions. During long-range transport of biomass burning from fire in North America, the aerosol absorption coefficient increases with altitude, probably due to entrainment of such particles into the PBL. Full article

Forests play a crucial role in carbon sequestration and climate change mitigation, offering ecosystem services, biodiversity conservation, and water resource management. As global efforts to reduce greenhouse gas emissions intensify, the demand for accurate spatial information to monitor forest conditions and assess carbon absorption capacity has grown. LiDAR (Light Detection and Ranging) has emerged as a transformative tool, providing high-resolution 3D spatial data for detailed analysis of forest attributes, including tree height, canopy structure, and biomass distribution. Unlike traditional manpower-intensive forest surveys, which are time-consuming and often limited in accuracy, LiDAR offers a more efficient and reliable solution. This study evaluates the accuracy and applicability of advanced LiDAR technologies—drone-mounted, terrestrial, and mobile scanners—for generating 3D forest spatial data. The results show that the terrestrial LiDAR achieved the highest precision for diameter at breast height (DBH) and tree height measurements, with RMSE values of 0.66 cm and 0.91 m, respectively. Drone-mounted LiDAR demonstrated excellent efficiency for large-scale surveys, while mobile LiDAR offered portability and speed but required further improvement in accuracy (e.g., RMSE: DBH 0.76 cm, tree height 1.83 m). By comparing these technologies, this study identifies their strengths, limitations, and optimal application scenarios, contributing to more accurate forest management practices and carbon absorption assessments. Full article

The automatic inspection of belt conveyors gathers increasing attention in the mining industry. The utilization of mobile robots to perform the inspection allows increasing the frequency and precision of inspection data collection. One of the issues that needs to be solved is the location of inspected objects, such as, for example, conveyor idlers in the vicinity of the robot. This paper presents a novel approach to analyze the 3D LIDAR data to detect idler frames in real time with high accuracy. Our method processes a point cloud image to determine positions of the frames relative to the robot. The detection algorithm utilizes density histograms, Euclidean clustering, and a dimension-based classifier. The proposed data flow focuses on separate processing of single scans independently, to minimize the computational load, necessary for real-time performance. The algorithm is verified with data recorded in a raw material processing plant by comparing the results with human-labeled objects. The proposed process is capable of detecting idler frames in a single 3D scan with accuracy above 83%. The average processing time of a single scan is under 22 ms, with a maximum of 75 ms, ensuring that idler frames are detected within the scan acquisition period, allowing continuous operation without delays. These results demonstrate that the algorithm enables the fast and accurate detection and localization of idler frames in real-world scenarios. Full article

Thorough investigations into air temperature variation across urban environments are essential to address concerns about city livability. With limited research on smaller cities, especially in the American Midwest, the goal of this research was to examine the spatial patterns of air temperature across multiple small to medium-sized cities in Iowa, a relatively rural US state. Extensive fieldwork was conducted utilizing manually built mobile temperature sensors to collect air temperature data at a high temporal and spatial resolution in ten Iowa urban areas during the afternoon, evening, and night on days exceeding 32 °C from June to September 2022. Using the random forest machine-learning algorithm and estimated urban morphological variables at varying neighborhood distances derived from 1 m² aerial imagery and derived products from LiDAR data, we created 24 predicted surface temperature models that demonstrated R² coefficients ranging from 0.879 to 0.997 with the majority exceeding an R² of 0.95, all with p-values < 0.001. The normalized vegetation index and 800 m neighbor distance were found to be the most significant in explaining the collected air temperature values. This study expanded upon previous research by examining different sized cities to provide a broader understanding of the impact of urban morphology on air temperature distribution while also demonstrating utility of the random forest algorithm across cities ranging from approximately 10,000 to 200,000 inhabitants. These findings can inform policies addressing urban heat island effects and climate resilience. Full article

Quadruped robots possess significant mobility in complex and uneven terrains due to their outstanding stability and flexibility, making them highly suitable in rescue missions, environmental monitoring, and smart agriculture. With the increasing use of quadruped robots in more demanding scenarios, ensuring accurate and stable state estimation in complex environments has become particularly important. Existing state estimation algorithms relying on multi-sensor fusion, such as those using IMU, LiDAR, and visual data, often face challenges on non-stationary terrains due to issues like foot-end slippage or unstable contact, leading to significant state drift. To tackle this problem, this paper introduces a state estimation algorithm that integrates an invariant extended Kalman filter (InEKF) with a disturbance observer, aiming to estimate the motion state of quadruped robots on non-stationary terrains. Firstly, foot-end slippage is modeled as a deviation in body velocity and explicitly included in the state equations, allowing for a more precise representation of how slippage affects the state. Secondly, the state update process integrates both foot-end velocity and position observations to improve the overall accuracy and comprehensiveness of the estimation. Lastly, a foot-end contact probability model, coupled with an adaptive covariance adjustment strategy, is employed to dynamically modulate the influence of the observations. These enhancements significantly improve the filter’s robustness and the accuracy of state estimation in non-stationary terrain scenarios. Experiments conducted with the Jueying Mini quadruped robot on various non-stationary terrains show that the enhanced InEKF method offers notable advantages over traditional filters in compensating for foot-end slippage and adapting to different terrains. Full article

This article examines the potential of low-cost LiDAR technology for 3D modeling and assessment of the degradation of historic buildings, using a section of the Koszalin city walls in Poland as a case study. Traditional terrestrial laser scanning (TLS) offers high accuracy but is expensive. The study assessed whether more accessible LiDAR options, such as those integrated with mobile devices such as the Apple iPad Pro, can serve as viable alternatives. This study was conducted in two phases—first assessing measurement accuracy and then assessing degradation detection—using tools such as the FreeScan Combo scanner and the Z+F 5016 IMAGER TLS. The results show that, while low-cost LiDAR is suitable for small-scale documentation, its accuracy decreases for larger, complex structures compared to TLS. Despite these limitations, this study suggests that low-cost LiDAR can reduce costs and improve access to heritage conservation, although further development of mobile applications is recommended. Full article